Joust (verb)

1. To engage in a tournament on horseback with lances.
2. To engage in a competition or struggle with someone.
3. To compete or struggle for a goal.

Origin:

The word joust comes from the old french word "joster", which means to engage in a tournament on horseback with lances.

Examples:

1. He jousted in the tournament on horseback with lances.
2. They were jousting for the championship.
3. He jousted with his rival for the throne.
4. He likes to joust in tournaments.
5. She jousted with her competitor for the prize.